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履带小车代码分析

发布于：2022年11月21日

HTML 部分：

引入 semantic-ui, jquery 和 joy.js

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<head>
	<meta charset="UTF-8">
	<title>Tourmaline</title>
	</meta>
	<meta name="viewport" content="width=device-width, initial-scale=0.5, minimum-scale=1.0, maximum-scale=4.0">
	</meta>
	<link rel="stylesheet" type="text/css" href="https://unpkg.com/semantic-ui@2.4.2/dist/semantic.min.css">
	<script src="https://code.jquery.com/jquery-3.1.1.min.js"
		integrity="sha256-hVVnYaiADRTO2PzUGmuLJr8BLUSjGIZsDYGmIJLv2b8=" crossorigin="anonymous"></script>
	<script src="https://unpkg.com/semantic-ui@2.4.2/dist/semantic.min.js"></script>
	<script src="joy.min.js"></script>
</head>
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<script>
		car_server = "http://10.80.165.58";
		update_time = 2000;//2000毫秒更新一次
	</script>

一些数据

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<div class="ui container">
		<div class="ui fluid segment">
			<div class="ui top attached label">小车状态</div>

			<div class="ui three cards">
				<div class="card">
					<div class="content">
						<div class="header">电池</div>
						<div class="ui indicating progress" id="battery">
							<div class="bar">
							</div>
							<div class="label" id="battery_label"></div>
						</div>
					</div>
				</div>
				<div class="card">
					<div class="content">
						<div class="header">是否倾斜</div>
						<div class="description" id="lean">
							否
						</div>
					</div>
				</div>
				<div class="card">
					<div class="content">
						<div class="header">是否有人</div>
						<div class="description" id="human">
							否
						</div>
					</div>
				</div>
			</div>
		</div>
		<div class="ui fluid segment">
			<div class="ui top attached label">操控杆</div>
			<div id="joyDiv" style="width:200px;height:200px;margin-bottom:20px;"></div>
		</div>
		<div class="ui fluid segment">
			<div class="ui top attached label">步骤</div>
			<div class="ui two cards">
				<div class="card">
					<div class="ui vertical steps" id="steps">
						<!-- <div class="step">
							<i class="arrow alternate circle up icon"></i>
							<div class="content">
								<div class="title">前进</div>
								<div class="description">x=100,y=100,t=1s</div>
							</div>
						</div>
						<div class="step">
							<i class="arrow alternate circle down icon"></i>
							<div class="content">
								<div class="title">后退</div>
								<div class="description">x=-100,y=-100,t=1s</div>
							</div>
						</div>
						<div class="step">
							<i class="stop circle icon"></i>
							<div class="content">
								<div class="title">暂停</div>
								<div class="description">x=0,y=0,t=1s</div>
							</div>
						</div>
						<div class="step">
							<i class="arrow circle right icon"></i>
							<div class="content">
								<div class="title">右转</div>
								<div class="description">x=100,y=-100,t=1s</div>
							</div>
						</div>
						<div class="step">
							<i class="arrow circle left icon"></i>
							<div class="content">
								<div class="title">左转</div>
								<div class="description">x=-100,y=100,t=1s</div>
							</div>
						</div> -->
					</div>
				</div>
				<div class="card">
					<div class="ui form">
						<div class="field">
							<label>JSON 数据</label>
							<textarea style="font-family:consolas;tab-size: 4;height:353px">
[
	{
		"cmd": "forward",
		"x": 100,
		"y": 100,
		"t": 1
	},
	{
		"cmd": "backward",
		"x": -100,
		"y": -100,
		"t": 1
	},
	{
		"cmd": "left",
		"x": -100,
		"y": 100,
		"t": 1
	},
	{
		"cmd": "right",
		"x": 100,
		"y": -100,
		"t": 1
	},
	{
		"cmd": "stop",
		"x": 100,
		"y": -100,
		"t": 1
	},
	{
		"cmd": "not full speed",
		"x": 50,
		"y": 50,
		"t": 1
	}
]
							</textarea>
						</div>
						<div class="ui horizontal buttons">
							<div class="ui button" onclick="apply()">
								应用
							</div>
							<div class="ui button" onclick="activate()">
								执行
							</div>
						</div>
						<div class="ui checkbox">
							<input type="checkbox" id="repeat">
							<label>循环</label>
						</div>
					</div>
				</div>
			</div>
		</div>
	</div>

结构主体

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var is_step_on = false;
		var joy = new JoyStick('joyDiv');
		function updateSpeed(speedX, speedY) {
			$.get(`${car_server}/go?left=${joy.GetX()}&right=${joy.GetY()}`);
		}
function apply() {
			var json = JSON.parse($('textarea').val());
			$("#steps").empty();
			for (var i = 0; i < json.length; i++) {
				var step = json[i];
				var icon = "";
				switch (step.cmd) {
					case "forward":
						icon = "arrow alternate circle up icon";
						break;
					case "backward":
						icon = "arrow alternate circle down icon";
						break;
					case "stop":
						icon = "stop circle icon";
						break;
					case "right":
						icon = "arrow circle right icon";
						break;
					case "left":
						icon = "arrow circle left icon";
						break;
					default:
						icon = "question circle icon";
						break;
				}
				$("#steps").append(`
					<div class="step">
						<i class="${icon}"></i>
						<div class="content">
							<div class="title">${step.cmd}</div>
							<div class="description">x=${step.x},y=${step.y},t=${step.t}s</div>
						</div>
					</div>
				`);
			}
		}

更新steps

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function sleep(time) {
			return new Promise((resolve) => {
				setTimeout(() => {
					resolve();
				}, time);
			});
		}
		//指示小车行动
		async function activate() {
			is_step_on = true;
			var json = JSON.parse($('textarea').val());
			for (var i = 0; i < json.length; i++) {
				console.log(i);
				// console.log($('#repeat').checkbox('is checked'));
				var step = json[i];
				$.get(`${car_server}/go?left=${step.x}&right=${step.y}`);
				//等待t秒
				await sleep(step.t * 1000);
				if (i==json.length-1 && $('#repeat').is(':checked')) {
					i = -1;
				}
			}
			//停止
			$.get(`${car_server}/go?left=0&right=0`);
			is_step_on=false;
		}
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function updateStatus() {
			// console.log(joy.GetX(), joy.GetY());
			// $("#battery").progress({
				// percent: 870 / 10
			// });
			// $("#battery_label").text(870 / 10 + "%");
			$.get(car_server + "/battery", function (data) {
				$("#battery").progress({
					percent: data.battery / 10
				});
				$("#battery_label").text(data.battery / 10 + "%");
			});
			if (!is_step_on) updateSpeed(joy.GetX(), joy.GetY());
		}
		// Create JoyStick object into the DIV 'joyDiv'
		apply();
		updateStatus();
		setInterval(function () { updateStatus() }, update_time);

更新status

control.ino

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#include <Wire.h>
// #include <cstdio>

#define I2C_ADDR 0x34

#define ADC_BAT_ADDR 0
#define MOTOR_TYPE_ADDR 20              //编码电机类型设置
#define MOTOR_ENCODER_POLARITY_ADDR 21  //设置编码方向极性，
//如果发现电机转速根本不受控制，要么最快速度转动，要么停止。可以将此地址的值重新设置一下
//范围0或1，默认0
#define MOTOR_FIXED_PWM_ADDR 31  //固定PWM控制，属于开环控制,范围（-100~100）
//#define SERVOS_ADDR_CMD 40
#define MOTOR_FIXED_SPEED_ADDR 51  //固定转速控制，属于闭环控制，
//单位：脉冲数每10毫秒，范围（根据具体的编码电机来，受编码线数，电压大小，负载大小等影响，一般在±50左右）

#define MOTOR_ENCODER_TOTAL_ADDR 60  //4个编码电机各自的总脉冲值
//如果已知电机每转一圈的脉冲数为U，又已知轮子的直径D，那么就可以通过脉冲计数的方式得知每个轮子行进的距离
//比如读到电机1的脉冲总数为P，那么行进的距离为(P/U) * (3.14159*D)
//对于不同的电机可以自行测试每圈的脉冲数U，可以手动旋转10圈读出脉冲数，然后取平均值得出


//电机类型具体值
#define MOTOR_TYPE_WITHOUT_ENCODER 0
#define MOTOR_TYPE_TT 1
#define MOTOR_TYPE_N20 2
#define MOTOR_TYPE_JGB 3  //磁环每转是44个脉冲   减速比:90  默认

电机类型与基本数据

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u8 data[20];
bool WireWriteByte(uint8_t val) {
  Wire.beginTransmission(I2C_ADDR);
  Wire.write(val);
  if (Wire.endTransmission() != 0) {
    return false;
  }
  return true;
}
bool WireWriteDataArray(uint8_t reg, uint8_t *val, unsigned int len) {
  unsigned int i;

  Wire.beginTransmission(I2C_ADDR);
  Wire.write(reg);
  for (i = 0; i < len; i++) {
    Wire.write(val[i]);
  }
  if (Wire.endTransmission() != 0) {
    return false;
  }
  return true;
}
bool WireReadDataByte(uint8_t reg, uint8_t &val) {
  if (!WireWriteByte(reg)) {
    return false;
  }
  Wire.requestFrom(I2C_ADDR, 1);
  while (Wire.available()) {
    val = Wire.read();
  }
  return true;
}
int WireReadDataArray(uint8_t reg, uint8_t *val, unsigned int len) {
  unsigned char i = 0;
  /* Indicate which register we want to read from */
  if (!WireWriteByte(reg)) {
    return -1;
  }
  /* Read block data */
  Wire.requestFrom(I2C_ADDR, len);
  while (Wire.available()) {
    if (i >= len) {
      return -1;
    }
    val[i] = Wire.read();
    i++;
  }
  return i;
}

I2C通讯

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#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>
#include <cstring>

// #ifndef STASSID
// #define STASSID "blablabla"
// #define STAPSK "blablabla"
// #endif
#include <password.h>


const char *ssid = STASSID;
const char *password = STAPSK;

ESP8266WebServer server(80);

初始 ESP8266WebServer

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uint8_t MotorType = MOTOR_TYPE_JGB;
uint8_t MotorEncoderPolarity = 0;

void SetupMotor() {
  Wire.begin();
  // printf_begin();
  delay(200);
  WireWriteDataArray(MOTOR_TYPE_ADDR, &MotorType, 1);
  delay(5);
  WireWriteDataArray(MOTOR_ENCODER_POLARITY_ADDR, &MotorEncoderPolarity, 1);
}

初始化马达，指定类型与极性。

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void handleNotFound() {
  String message = "File Not Found\n\n";
  message += "URI: ";
  message += server.uri();
  message += "\nMethod: ";
  message += (server.method() == HTTP_GET) ? "GET" : "POST";
  message += "\nArguments: ";
  message += server.args();
  message += "\n";
  for (uint8_t i = 0; i < server.args(); i++) {
    message += " " + server.argName(i) + ": " + server.arg(i) + "\n";
  }
  server.send(404, "text/plain", message);
}

float getVoltage() {
  int v = analogRead(A0);
  float volt = v * (5.0 / 1024.0) * 2;
  return volt;
}

void handleBattery() {
  float vol = getVoltage() - 2.0;
  char s[30] = "{\"battery\":xxx}";
  s[11] = ((int)vol) % 10 + '0';
  s[12] = ((int)(vol * 10)) % 10 + '0';
  s[13] = ((int)(vol * 100)) % 10 + '0';
  server.send(200, "application/json", s);
}
uint8_t p[2] = { 0, 0 };
int32_t EncodeTotal[4];
void handleMovement() {
  String LeftSpeed = server.arg("left");
  String RightSpeed = server.arg("right");
  Serial.println(LeftSpeed);
  Serial.println(RightSpeed);
  p[0] = LeftSpeed.toInt();
  p[1] = RightSpeed.toInt();
  WireWriteDataArray(MOTOR_FIXED_SPEED_ADDR, p, 2);
  server.send(200, "text/plain", "ok");
}

接受http请求

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void SetupServer() {
  Serial.begin(115200);
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, password);

  // Wait for connection
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.print("Connected to ");
  Serial.println(ssid);
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  server.enableCORS(true);
  server.on("/battery", handleBattery);
  server.on("/go", handleMovement);

  server.begin();
  Serial.println("HTTP server started");
}

初始化服务器。

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void setup() {
  SetupServer();
  SetupMotor();
}

void loop() {
  server.handleClient();
}
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本文永久链接是：https://gaisaiyuno.github.io/archives/3135204e.html

更新于：2022年11月21日

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